Enviaments recents

A 4D rotation can be decomposed into a left- and a right-isoclinic rotation. This decomposition, known as Cayley’s factorization of 4D rotations, can be performed using the Elfrinkhof–Rosen method. In this paper, we present ...

In this paper we bring the tools of the Simultaneous Localization and Map Building (SLAM) problem from a rigid to a deformable domain and use them to simultaneously recover the 3D shape of non-rigid surfaces and the sequence ...

The sensor localization problem can be formalized using distance and orientation constraints, typically in 3D. Local methods can be used to refine an initial location estimation, but in many cases such estimation is not ...

An image can be seen as an element of a vector space and hence it can be expressed in as a linear combination of the elements of any non necessarily orthogonal basis of this space. After giving a matrix formulation of this ...

Current geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind ...

This paper presents a path planning method for actuated tensegrity structures with quasi-static motion. The valid configurations for such structures lay on an equilibrium manifold, which is implicitly defined by a set of ...

Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack-to ...

Symmetry breaking has been a hot topic of research in the past years, leading to many theoretical developments as well as strong scaling strategies for dealing with hard applications. Most of the research has however focused ...